提交修改

BaseTracker/BaseTrack.cpp

@@ -74,7 +74,7 @@ bool BaseTrack::IsLost()
 }
 int BaseTrack::GetMeasureData(std::vector<float>& data)
 {
-    if (kf_ == nullptr)
+    if (kf_ == nullptr || m_num_obs > m_num_states)
         return -1;
     data.clear();
     for (int i = 0; i < m_num_obs; i++)

BaseTracker/BaseTracker.h

@@ -180,6 +180,23 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
                 j++;
             }
         }
+        std::string dete_str = GetMatrixStr(detections, detections.size(), detections.size() > 0 ? detections[0].size() : 0);
+        std::vector<std::vector<float> > tracker_states;
+        for (auto& iter : tracks)
+        {
+            std::vector<float> measure;
+            if (iter.second->GetMeasureData(measure) == 0)
+            {
+                tracker_states.emplace_back(measure);
+            }
+            else
+            {
+                SDK_LOG(SDK_INFO, "GetMeasureData failed");
+            }
+        }
+        std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tracker_states.size() > 0 ? tracker_states[0].size() : 0);
+        SDK_LOG(SDK_INFO, "detections = [%s]", dete_str.c_str());
+        SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
     }
     else
     {
@@ -191,6 +208,10 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
             {
                 tracker_states.emplace_back(measure);
             }
+            else
+            {
+                SDK_LOG(SDK_INFO, "GetMeasureData failed");
+            }
         }
         int measure_size = detections.size() > 0 ? detections[0].size() : 0;
         int tra_size = tracker_states.size() > 0 ? tracker_states[0].size() : 0;